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The most common problem with noisy power steering (whining noise) is that the power steering pump is defective. If you replace the pump make sure you flush the system with clean PS fluid or it can ruin the new pump.

Are you a diesel? If you are do the recall ,for the hydro boost (brakes) you sound like it.There is a recall on the hydro boost and yes this is a power steering assist, and a brake power assist
Recall I.D # 04045000

it sounds like power sterring, check level of fluid, inspect around pulley, if it is wet or oily looking, the seal is going bad, you can put some power sterring stop leak in it, it will buy you some time until you can change the pump

Check the power steering fluid level.If the fluid level is low, you obviously have a leak somewhere and it should be repaired. If the level is up, watch the power steering pump while the engine is running; is the pulley turning freely?Power steering systems are hydraulic devices. The pump provides the pressure and the steering gear or rack and pinion assembly (depending on the vehicle type) applies pressure in the direction that you are turning the wheel to assist with the steering. When the hydraulics fail or when the internal components fail, your strength is the only thing turning the steering.But start with the fluid.

This can be VERY expensive I would first contact GM customer assitance the phone number should be in your owners manual.Maybe depending on your milage they will split the cost with you.I worked 20 plus years for GM and they helped alot my customers.